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Yuki Shirai

Covariance Steering for Uncertain Contact-rich Systems

Mar 23, 2023
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan

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* Accepted to the 2023 International Conference on Robotics and Automation (ICRA2023)

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Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization

Mar 15, 2023
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan

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* Submitted to IEEE Transactions on Robotics. arXiv admin note: substantial text overlap with arXiv:2203.11412

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Tactile Tool Manipulation

Jan 17, 2023
Yuki Shirai, Devesh K. Jha, Arvind U. Raghunathan, Dennis Hong

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* Accepted to ICRA2023. Video: https://youtu.be/VsClK04qDhk

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Auto-Calibrating Admittance Controller for Robust Motion of Robotic Systems

Jul 06, 2022
Alexander Schperberg, Yuki Shirai, Xuan Lin, Yusuke Tanaka, Dennis Hong

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* In preparation for ICRA 2023 Submission

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Simultaneous Contact-Rich Grasping and Locomotion via Distributed Optimization Enabling Free-Climbing for Multi-Limbed Robots

Jul 05, 2022
Yuki Shirai, Xuan Lin, Alexander Schperberg, Yusuke Tanaka, Hayato Kato, Varit Vichathorn, Dennis Hong

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* Accepted for the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). Hardware implementation videos: https://youtu.be/QLH1shghqQ0

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SCALER: A Tough Versatile Quadruped Free-Climber Robot

Jul 04, 2022
Yusuke Tanaka, Yuki Shirai, Xuan Lin, Alexander Schperberg, Hayato Kato, Alexander Swerdlow, Naoya Kumagai, Dennis Hong

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* Proceeding to IROS 2022

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Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization

Mar 22, 2022
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres

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* Accepted to the 2022 IEEE International Conference on Robotics and Automation (ICRA 2022)

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Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation

Mar 05, 2022
Yuki Shirai, Devesh K. Jha, Arvind Raghunathan, Diego Romeres

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* Under review at IROS 2022
* 9 pages, 9 figures

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